diff options
Diffstat (limited to 'src/modules/uORB/topics/home_position.h')
-rw-r--r-- | src/modules/uORB/topics/home_position.h | 21 |
1 files changed, 10 insertions, 11 deletions
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h index 09f5140b3..08d11abae 100644 --- a/src/modules/uORB/topics/home_position.h +++ b/src/modules/uORB/topics/home_position.h @@ -2,6 +2,7 @@ * * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> + * Julian Oes <joes@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,9 +35,10 @@ /** * @file home_position.h - * Definition of the GPS home position uORB topic. + * Definition of the home position uORB topic. * * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef TOPIC_HOME_POSITION_H_ @@ -53,17 +55,14 @@ /** * GPS home position in WGS84 coordinates. */ -struct home_position_s { - uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ - uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module */ +struct home_position_s +{ + uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ - int32_t lat; /**< Latitude in 1E7 degrees */ - int32_t lon; /**< Longitude in 1E7 degrees */ - int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ - float eph_m; /**< GPS HDOP horizontal dilution of position in m */ - float epv_m; /**< GPS VDOP horizontal dilution of position in m */ - float s_variance_m_s; /**< speed accuracy estimate m/s */ - float p_variance_m; /**< position accuracy estimate m */ + //bool altitude_is_relative; // TODO what means home relative altitude? we need clear definition of reference altitude then + double lat; /**< Latitude in degrees */ + double lon; /**< Longitude in degrees */ + float alt; /**< Altitude in meters */ }; /** |